CN114378786B - Rail type robot positioning method and device - Google Patents
Rail type robot positioning method and device Download PDFInfo
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- CN114378786B CN114378786B CN202210063707.1A CN202210063707A CN114378786B CN 114378786 B CN114378786 B CN 114378786B CN 202210063707 A CN202210063707 A CN 202210063707A CN 114378786 B CN114378786 B CN 114378786B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a positioning method and a positioning device for a track robot, wherein the positioning method comprises the following steps: when the robot chassis moves on the track, respectively obtaining real-time main odometer data and real-time auxiliary odometer data through the counts of the driving wheel motor encoder and the driven wheel encoder; when the robot chassis passes through the electronic tag on the track, acquiring calibration point position data from the electronic tag through the tag reader-writer; and the robot controller obtains the position of the robot chassis according to the real-time main odometer data, the real-time auxiliary odometer data and the calibration point position data. The invention realizes the position error tracking of the whole process of moving the track robot on the track, and can quickly respond when the position error of the robot is large. By establishing a data model of the calibration points, the position repetition precision of the robot when two directions pass through the calibration points is ensured.
Description
Technical Field
The invention belongs to the technical field of robot positioning, and particularly relates to a track type robot positioning method and device.
Background
In the process of executing a work plan, the track robot needs to accurately reach a set position to finish a task. However, due to mechanical wear, deformation, etc., the robot chassis may slip while moving on the rails.
When the robot moves on the track and slips, the position of the robot on the track shifts. The robot positioning system corrects the position of the robot through two-dimensional codes, bar codes, optical codes and the like which are arranged on the track, so that the robot can accurately complete the task plan.
In the prior art, the existing track type robot positioning method mainly comprises the steps of counting a motor encoder of a driving wheel, attaching a two-dimensional code on a track, placing Hall magnetic steel and the like, but all the following problems exist:
1. the repetition accuracy of the robot chassis passing the calibration point from both directions cannot be ensured.
2. The robot position error tracking can only be carried out when the robot passes through the calibration points, and the robot position error tracking is limited by the distance and the cost of the calibration points, so that the working efficiency of the robot is reduced.
Disclosure of Invention
Aiming at the problems, the invention provides a positioning method and a positioning device for a track type robot, which improve the positioning precision and the working efficiency of the track type robot and ensure the positioning reliability.
The invention provides a track type robot positioning method, which comprises the following steps:
when the robot chassis moves on the track, respectively obtaining real-time main odometer data and real-time auxiliary odometer data through the counts of the driving wheel motor encoder and the driven wheel encoder;
when the robot chassis passes through the electronic tag on the track, acquiring calibration point position data from the electronic tag through the tag reader-writer;
and the robot controller obtains the position of the robot chassis according to the real-time main odometer data, the real-time auxiliary odometer data and the calibration point position data.
Further, the real-time main odometer data is obtained through the counting of the driving wheel motor encoder, and specifically comprises the following steps:
odom1＝k1*(π*d1/pluse1)；
in the formula, odom1 is real-time main odometer data, d1 is the diameter of a driving wheel, plus 1 is the maximum pulse per rotation of the driving wheel encoder, and k1 is the current count of the driving wheel encoder.
Further, real-time slave odometer data is obtained through counting of the driven wheel encoder, specifically:
odom2＝k2*(π*d2/pluse2)；
where odom2 is real-time slave odometer data, d2 is the driven wheel diameter, plus 2 is the maximum pulse per revolution of the driven wheel encoder, and k2 is the current count of the driven wheel encoder.
Further, the method further comprises the steps of: calculating a real-time odometer according to the real-time master odometer data and the real-time slave odometer data, wherein the real-time odometer is specifically as follows:
odom＝(odom1+odom2)/2；
wherein, odom1 is real-time master odometer data, and odom2 is real-time slave odometer data.
Further, the track type robot positioning method further comprises the steps of: before the robot chassis moves on the track, initial parameter setting is carried out through the robot controller, specifically:
acquiring a mechanical origin of a track, measuring and acquiring mechanical positions of central points of a plurality of electronic tags on the track, setting the central points of the plurality of electronic tags as standard points, and numbering the standard points;
based on the mechanical position of the electronic tag, a calibration point data table is established in the robot controller, and corresponding standard point mechanical position data is updated;
defining a track interval based on a mechanical origin and the mechanical position of the electronic tag;
and (3) carrying out forward and reverse position calibration on the standard points, and correspondingly updating a calibration point data table in the robot controller.
Furthermore, the standard points are subjected to forward and reverse position calibration, and the calibration point data table in the robot controller is correspondingly updated, specifically:
s041, the robot chassis moves to a mechanical origin, and the main odometer and the slave odometer are cleared;
s042, the robot chassis moves forward, if the absolute value of the deviation of the main odometer data and the auxiliary odometer data is calculated in real time to be smaller than the odometer deviation threshold value, the label number m of the calibration point is obtained, and if the absolute value of the deviation of the main odometer data and the auxiliary odometer data is calculated in real time to be not smaller than the odometer deviation threshold value SV1, the step S041 is returned;
s043, if the label number m of the calibration points is smaller than or equal to the total number n of the calibration points, and the absolute value of the mechanical positions of the real-time odometer and the calibration points m is smaller than the calibration point position correction setting threshold value, updating the reliability of the calibration points m in the calibration point data table, and updating the forward position data of the calibration points m;
s044, the robot chassis sequentially moves forward to other calibration points, and corresponding calibration point data tables are updated according to the steps S042 and S043;
s045, the robot chassis moves reversely, and if the absolute value of the deviation of the master odometer data and the slave odometer data is calculated in real time to be smaller than the odometer deviation threshold value, the label number m of the calibration point is obtained;
s046, if the label number m of the calibration point is more than or equal to 1 and the absolute value of the mechanical position of the odometer and the calibration point m is less than the position correction setting threshold value of the calibration point, updating the reliability of the calibration point m in the calibration point data table and updating the reverse position data of the calibration point m;
s047, the robot chassis sequentially moves to other calibration points in the reverse direction, the corresponding calibration point data table is updated according to the steps S045 and S046, after the reverse position data of the calibration point data table are updated, the robot chassis is stopped, and the whole process is finished.
Further, the track type robot positioning method further comprises the steps of: when the robot executes the task, the position of the target point is received, and the robot controller determines the moving track according to the track interval where the position of the target point is and the real-time position of the robot chassis.
Further, when the robot executes a task, the robot receives the position of the target point, and the robot controller determines a moving track according to the track section where the position of the target point is located and the real-time position of the chassis of the robot, specifically:
the robot chassis moves forward along the track to read the first label number and then stops;
updating the position of the robot chassis to be the forward position of the corresponding numbered calibration point;
calculating a calibration point section where the position of the target point is located;
judging whether the position of the target point is in a current calibration point interval, if so, determining the moving direction of the robot chassis and moving to the position of the target point;
in the process of moving the robot chassis to the target point position, if the absolute value of the deviation between the real-time main odometer data and the real-time auxiliary odometer data is smaller than the set odometer deviation threshold value, the robot chassis moves to the target point position to finish the task;
in the process of moving the robot chassis to the target point position, if the absolute value of the deviation between the real-time main odometer data and the real-time auxiliary odometer data is not smaller than the set odometer deviation threshold value, searching a calibration point with the reliability of 1 closest to the current position in the moving direction of the robot chassis, and moving the robot chassis to the target point position after the calibration point is corrected again to complete the task;
if the target point position is not in the current calibration point interval, searching a calibration point with the reliability of 1 closest to the target position in the moving direction of the robot, and updating the current position of the robot chassis, real-time main odometer data and real-time slave odometer data by using the calibration point position data when the robot chassis moves to the calibration point;
if the absolute value of the deviation between the real-time main odometer data and the real-time auxiliary odometer data is smaller than the set odometer deviation threshold value, the robot chassis moves to the target point position to finish the task;
if the absolute value of the deviation between the real-time main odometer data and the real-time auxiliary odometer data is not smaller than the set odometer deviation threshold value, searching a calibration point with the reliability of 1 closest to the current position in the moving direction of the robot chassis, and moving the robot chassis to the target point position after the robot chassis moves to the calibration point to correct the position again, so that the task is completed.
Further, when the robot chassis is repositioned at the calibration point, the method further comprises the following steps:
when the robot chassis revises the position at the current calibration point Pk, searching the position of the next calibration point Pk+1 immediately, and calculating the distance Dk+1 between Pk and Pk+1;
if the phenomenon of wheel slipping does not occur in the movement process of the robot chassis, when the absolute value of the deviation value of the odometer and Dk+1 is larger than the deviation threshold value of the position data of the odometer and the calibration point, the credibility of the calibration point Pk+1 is set to 0;
when the electronic labels with the credibility of 0 are continuously distributed, the background server is informed of maintenance through the Ethernet constructed by the first coaxial network converter and the second coaxial network converter;
and when the number of the electronic tags with the credibility of 0 exceeds the calibration point maintenance setting threshold value, notifying a background server to overhaul through the Ethernet constructed by the first coaxial network converter and the second coaxial network converter.
Further, the calibration point data table includes calibration point numbers, credibility, machine positions, forward positions, and reverse positions.
The invention also provides a track type robot positioning device, which comprises:
the driving wheel motor encoder is used for counting to obtain real-time main odometer data when the robot chassis moves on the track;
the driven wheel encoder is used for counting and obtaining real-time slave odometer data when the robot chassis moves on the track;
the tag reader-writer is used for acquiring calibration point position data from the electronic tag when the robot chassis passes through the electronic tag on the track;
and the robot controller is used for obtaining the position of the robot chassis according to the real-time main odometer data, the real-time auxiliary odometer data and the calibration point position data.
Further, the robot further comprises a first coaxial network transmitter in the robot chassis and a second coaxial network transmitter arranged at the tail part of the track;
the first coaxial network converter and the second coaxial network converter are used for constructing an Ethernet and realizing data communication between the robot controller and the background server.
Further, the track comprises a plurality of sections of sub-tracks, the electronic tag is arranged at the same position of each sub-track, and a tag reader-writer is arranged above the contact of the robot chassis and the track.
The invention has the beneficial effects that: the invention realizes the position error tracking of the whole process of moving the track robot on the track, and can quickly respond when the position error of the robot is large. By establishing a data model of the calibration points, the position repetition precision of the robot when two directions pass through the calibration points is ensured.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a flow diagram of a method for orbital robot positioning according to an embodiment of the invention;
FIG. 2 illustrates a calibration point data representation intent in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of a standard point forward and reverse position calibration flow according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a positioning process during task execution by a robot according to an embodiment of the invention;
fig. 5 shows a schematic structural diagram of a track-type robot positioning device according to an embodiment of the present invention.
In the figure: 1. a robot chassis; 2. a driving wheel; 3. a driving wheel driving motor; 4. a drive wheel motor encoder; 5. driven wheel; 6. a driven wheel encoder; 7. a tag reader; 8. a first coaxial network transmitter; 9. a second coaxial network transmitter; 10. an electronic tag; 11. a track; 12. and a robot controller.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The embodiment of the invention provides a positioning method of a track robot, which is used for calibrating the position of the robot in the moving process.
Referring to fig. 1, fig. 1 is a flow chart illustrating a track-type robot positioning method according to an embodiment of the invention.
A method of orbital robot positioning comprising the steps of:
s1, when the robot chassis 1 moves on the track 11, real-time master odometer data and real-time slave odometer data are respectively obtained through the counting of the driving wheel motor encoder 4 and the driven wheel encoder 6.
In this embodiment, the real-time main odometer data is obtained by counting the driving wheel motor encoder 4, specifically:
odom1＝k1*(π*d1/pluse1)；
where odom1 is real-time master odometer data, d1 is the diameter of the capstan 2, plus 1 is the maximum pulse per revolution of the capstan encoder 4, and k1 is the current count of the capstan encoder 4.
In this embodiment, real-time slave odometer data is obtained by counting the slave wheel encoder 6, specifically:
odom2＝k2*(π*d2/pluse2)；
where odom2 is real-time slave odometer data, d2 is the diameter of the slave wheel 5, plus 2 is the maximum pulse per revolution of the slave wheel encoder 6, and k2 is the current count of the slave wheel encoder 6.
Further, calculating a real-time odometer from the real-time master odometer data and the real-time slave odometer data is:
odom＝(odom1+odom2)/2。
it should be noted that, the driving wheel motor encoder 4 and the driven wheel encoder 6 in the embodiment of the present invention are both incremental encoders, and the units of the position data of the unified driving wheel odometer, the driven wheel odometer and the robot chassis 1 are meters.
S2, when the robot chassis 1 passes through the electronic tag 10 on the track 11, the calibration point position data is obtained from the electronic tag 10 through the tag reader-writer 7.
And S3, the robot controller 12 obtains the position of the robot chassis 1 according to the real-time main odometer data, the real-time auxiliary odometer data and the calibration point position data.
Further, the track type robot positioning method further comprises the following steps:
s0, before the robot chassis 1 moves on the track 11, initial parameter setting is performed by the robot controller 12, and specifically includes:
s01, acquiring a mechanical origin of the track 11, measuring and acquiring mechanical positions of center points of a plurality of electronic tags 10 on the track 11, setting the center points of the plurality of electronic tags 10 as standard points, and numbering the standard points.
In specific implementation, a robot mechanical origin x0 is set on the track 11, the numbers of corresponding calibration points of the electronic tags 10 are set to be 1, 2, and n, and the mechanical position of the center point of each electronic tag 10 on the track 11 is obtained through measurement.
S02, based on the mechanical position of the electronic tag 10, a calibration point data table is established in the robot controller 12, and corresponding standard point mechanical position data is updated.
In the robot controller 12, the calibration point data tables DS1, DS2, DSn are created, and the machine position data of the corresponding calibration points is updated.
Referring to fig. 2, fig. 2 illustrates a calibration point data representation intent in accordance with an embodiment of the present invention.
Each calibration point data table includes a calibration point number, a reliability, a machine position, a forward position, and a reverse position.
Specifically, when the position data of the calibration points in the data table are correct, the reliability is 1; when the calibration point position data in the data table is wrong, the reliability is 0.
S03, defining a track section based on the mechanical origin and the mechanical position of the electronic tag 10.
In particular, the region between the mechanical origin x0 and the electronic tag 1 is defined as a section A1, the region between the electronic tag 1 and the electronic tag 2 is defined as A2.
S04, performing positive and negative position calibration on the standard points, and correspondingly updating a calibration point data table in the robot controller 12.
In the forward and reverse position calibration process of the standard point, the deviation threshold of the odometer is set as SV1, the position correction setting threshold of the standard point is set as SV2, the deviation threshold of the position data of the odometer and the standard point is set as SV3, and the maintenance setting threshold of the standard point is set as SV4.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating a standard dot forward and backward position calibration flow according to an embodiment of the invention.
Specifically, S04 includes the following steps:
s041, the robot chassis 1 moves to a mechanical origin, and the main odometer and the slave odometer data are cleared.
S042, the robot chassis 1 moves forward, if the absolute value of the deviation of the main odometer data and the auxiliary odometer data is calculated in real time to be smaller than the odometer deviation threshold value SV1, the calibration point label number m is obtained, and if the absolute value of the deviation of the main odometer data and the auxiliary odometer data is calculated in real time to be not smaller than the odometer deviation threshold value SV1, the step S041 is returned.
In practice, the robot chassis 1 starts from the mechanical origin at a speed v and calculates in real time the deviation of odom1 and odom2.
S043, if the label number m of the calibration points is smaller than or equal to the total number n of the calibration points and the absolute value of the mechanical positions of the odometer and the calibration points m is smaller than the calibration point position correction setting threshold value SV2, updating the reliability of the calibration points m in the calibration point data table and updating the forward position data of the calibration points m.
When the robot chassis 1 moves forward, the positions of the calibration point label numbers 1 are sequentially moved to the positions of the calibration point label numbers n; when the robot chassis 1 moves in the reverse direction, the positions of the calibration point label numbers n are sequentially moved to the positions of the calibration point label numbers 1.
In the specific implementation, when the robot chassis 1 moves to the calibration point P1, the mechanical position data Pm1 of the calibration point P1 is obtained from the data table ds1 according to the read tag number.
When the absolute value of the deviation of the master odometer and the slave odometer is smaller than the set threshold value SV1 and the absolute value of the mechanical position of the odometer and the calibration point P1 is smaller than the set threshold value SV2, the forward position of P1 in the data table DS1 is updated to be the current odometer data, and meanwhile the credibility of P1 in the data table DS1 is updated to be 1.
And S044, the robot chassis 1 sequentially moves forward to other calibration points, and the corresponding calibration point data table is updated according to the steps S042 and S043.
In the specific implementation, the robot chassis 1 sequentially moves to other calibration points, after the forward position data of the DSn is updated, the robot chassis 1 moves forward for 20 cm and then parks.
S045, the robot chassis 1 moves reversely, and if the absolute value of the deviation of the master odometer data and the slave odometer data is calculated in real time to be smaller than the odometer deviation threshold value SV1, the calibration point label number m is obtained.
In practice, the robot chassis 1 moves in the reverse direction at the speed-v, and when the robot chassis 1 moves to the calibration point n, the mechanical position data Pmn of the calibration point n is obtained from the data table DSn based on the read tag number.
S046, if the label number m of the calibration point is more than or equal to 1 and the absolute value of the mechanical position of the odometer and the calibration point m is smaller than the calibration point position correction setting threshold value SV2, updating the reliability of the calibration point m in the calibration point data table and updating the reverse position data of the calibration point m.
In specific implementation, when the absolute value of the deviation of the master odometer and the slave odometer is smaller than a set threshold value SV1, if the absolute value of the mechanical positions of the odometer and the calibration point n is smaller than a set threshold value SV2, the reverse position of the data table DSn is updated into the current odometer data.
S047, the robot chassis 1 sequentially moves to other calibration points in the reverse direction, the corresponding calibration point data table is updated according to the steps S045 and S046, after the reverse position data of the calibration point data table are updated, the robot chassis 1 stops, and the whole process is finished.
In the implementation, the robot chassis 1 sequentially moves to other calibration points, after the reverse position data of the DS1 is updated, the robot chassis 1 stops, and the whole process is finished.
Further, the track type robot positioning method further comprises the following steps:
and S4, when the robot executes the task, receiving the position of the target point, and determining a moving track by the robot controller 12 according to the track interval where the position of the target point is and the real-time position of the robot chassis 1.
Referring to fig. 4, fig. 4 is a schematic diagram illustrating a positioning process in a task execution process of a robot according to an embodiment of the invention.
Specifically, step S4 includes:
s41, the robot chassis 1 is powered on the track 11 again.
S42, the robot chassis 1 moves forward along the track 11 to read the first label number and then stops.
S43, updating the position of the robot chassis 1 to be the forward position of the corresponding number calibration point.
In specific implementation, after the robot chassis 1 is powered on the track 11 again, the robot chassis moves forward along the track 11, the robot chassis 1 stops after the label number is read at the first passing calibration point, the real-time position of the robot chassis 1 is updated to be forward position data of the calibration point corresponding to the number, and a task is waited.
S44, calculating a calibration point section where the position of the target point is located.
In specific implementation, after the robot receives the task, the section Ai where the target position Pg is located is calculated.
S45, judging whether the target point position is in the current calibration point section, if so, determining the moving direction of the robot chassis 1 and moving to the target point position.
In the specific implementation, if Ai is the section where the robot chassis 1 is currently located, the robot chassis moves at the direct target point position Pg.
And S46, in the process of moving the robot chassis 1 to the target point position, if the absolute value of the deviation between the real-time main mileage data odom1 and the real-time slave mileage data odom2 is smaller than the set mileage deviation threshold value SV1, the robot chassis 1 moves to the target point position, and the task is completed.
And S47, searching a calibration point with the reliability of 1 closest to the current position in the moving direction of the robot chassis 1 if the absolute value of the deviation between the real-time main mileage data odom1 and the real-time slave mileage data odom2 is not smaller than the set mileage deviation threshold value SV1 in the moving process of the robot chassis 1 to the target point position, and moving the robot chassis 1 to the target point position after the robot chassis 1 moves to the calibration point to correct the position again so as to complete the task.
It should be noted that, if wheel slip occurs during the movement process, the absolute value of the deviation between the real-time master odometer data odom1 and the real-time slave odometer data odom2 will not be smaller than the set odometer deviation threshold SV1, and the embodiment of the invention judges whether wheel slip occurs during the movement process of the robot chassis 1 through the absolute value of the deviation between the real-time master odometer data odom1 and the real-time slave odometer data odom2.
In specific implementation, if wheel slip occurs during movement, the absolute value of the deviation between the real-time master odometer data odom1 and the real-time slave odometer data odom2 is larger than the set odometer deviation threshold value SV1, and the robot chassis 1 is parked. After stopping, searching a calibration point Pi with the nearest reliability of 1 from the current position, and moving the robot chassis 1 to the position of Pg after the calibration point Pi is corrected again.
And S48, if the target point position is not in the current calibration point interval, searching a calibration point with the reliability of 1 closest to the target position in the moving direction of the robot chassis 1, and updating the current position of the robot chassis 1, the real-time main odometer data odom1 and the real-time slave odometer data odom2 by using the calibration point position data when the robot chassis 1 moves to the calibration point.
In the implementation, if Ai is not the section where the robot chassis 1 is currently located, searching a calibration point Pk with the nearest reliability of 1 from Pg in the motion direction of the robot chassis 1, and moving the robot chassis 1 to the Pg after moving to the Pk to correct the position; if the wheels slip during the movement, the robot chassis 1 stops, moves to the correction position at the nearest calibration point with the reliability of 1 from the current position, and moves to the Pg position.
And S49, if the absolute value of the deviation between the real-time main mileage data odom1 and the real-time sub mileage data odom2 is smaller than the set odometer deviation threshold value SV1, the robot chassis moves to the target point position, and the task is completed.
S410, searching a calibration point with the reliability of 1 nearest to the current position in the moving direction of the robot chassis 1 if the absolute value of the deviation between the real-time main mileage data odom1 and the real-time sub mileage data odom2 is not smaller than the set odometer deviation threshold value SV1, and moving the robot chassis 1 to the calibration point to the target point position after the robot chassis 1 is moved to the calibration point to correct the position again so as to complete the task.
In the moving process of the robot chassis 1, when each calibration point passes, the real-time position of the robot chassis 1 is updated to the directional position data of the calibration point, and the odom1 data and the odom2 data are cleared.
Further, when the robot chassis 1 is repositioned at the calibration point, the method further comprises the following steps:
s51, after the robot chassis 1 revises the position at the calibration point Pk, searching for the position of the next calibration point Pk+1 immediately, and calculating the distance Dk+1 between Pk and Pk+1.
And S52, if the phenomenon of wheel slip does not occur in the movement process of the robot chassis 1, when the absolute value of the deviation value of the odometer odom and Dk+1 is larger than the deviation threshold value SV3 of the position data of the odometer and the calibration point, the credibility of the calibration point Pk+1 is set to 0.
And S53, when the electronic tags 10 with the credibility of 0 are continuously distributed, notifying a background server to overhaul through the Ethernet constructed by the first coaxial network transmitter 8 and the second coaxial network transmitter 9.
And S54, when the number of the electronic tags 10 with the credibility of 0 exceeds the calibration point maintenance setting threshold value of SV4, notifying a background server to overhaul through the Ethernet constructed by the first coaxial network transmitter 8 and the second coaxial network transmitter 9.
The embodiment of the invention realizes the automatic calibration of the forward and reverse positions of the electronic tag 10, and the robot chassis 1 performs the position positioning calibration based on the credibility criterion in the process of executing the task, thereby improving the positioning precision. When the robot chassis 1 moves on the track and skidding occurs, the position of the robot chassis 1 can be automatically corrected, so that the robot can accurately complete tasks.
The embodiment of the invention also provides a track type robot positioning device, which comprises:
the driving wheel motor encoder 4 is used for counting to obtain real-time main odometer data when the robot chassis 1 moves on the track 11;
a driven wheel encoder 6 for counting to obtain real-time slave odometer data as the robot chassis 1 moves on the track 11;
a tag reader/writer 7 for obtaining calibration point position data from the electronic tag 10 when the robot chassis 1 passes the electronic tag 10 on the rail 11;
the robot controller 12 is configured to obtain the position of the robot chassis 1 based on the real-time master odometer data, the real-time slave odometer data, and the calibration point position data.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a positioning device for a track robot according to an embodiment of the invention.
Specifically, the positioning device comprises a robot chassis 1, a driving wheel 2, a driving wheel driving motor 3, a driving wheel motor encoder 4, a driven wheel 5, a driven wheel encoder 6, a tag reader-writer 7, a first coaxial network transmitter 8, a second coaxial network transmitter 9, a plurality of electronic tags 10, a track 11 and a robot controller 12.
Further, the track 11 comprises a plurality of sections of sub-tracks, the electronic tag 10 is installed at the same position of each sub-track, the tag reader 7 is installed above the contact of the robot chassis 1 and the track 11, and the tag reader is located between the driving wheel 2 and the driven wheel 5.
In order to ensure the reliability of the read/write data, the length of the electronic tag 10 is set to be greater than twice the diameter of the tag reader/writer 7. When the electronic tag is installed, the distance between the read-write head of the tag reader-writer 7 and the electronic tag 10 is ensured to be within the effective induction distance range, and the read-write head of the tag reader-writer 7 and the center of the electronic tag 10 are ensured to be at the same horizontal height, so that the calibration point numbers stored in the electronic tag 10 can be stably read when the robot chassis 1 moves on a track.
Further, a driving wheel 2 and a driven wheel 5 are mounted on the robot chassis 1. The driving wheel 2 is mounted on the shaft of the driving wheel driving motor 3 to drive the robot chassis 1 to move on the rail 11. The driven wheel 5 is an auxiliary wheel to improve the stability of the movement of the robot chassis 1.
The driving wheel driving motor 3 is connected with the driving wheel motor encoder 4, the driven wheel encoder 6 is connected with the driven wheel 5, the first coaxial network transmitter 8 is also installed in the robot chassis 1, and the second coaxial network transmitter 9 is installed at the tail of the track 11.
Further, a two-core trolley line is arranged on the robot track 11, and the power supply of the robot chassis 1 is realized by the contact of the robot chassis 1 with the trolley line.
It should be noted that, the first coaxial network transmitter 8 and the second coaxial network transmitter 9 are high-speed network transmission devices, and may implement remote transmission of ethernet.
The first coaxial network transmitter 8 is installed inside the robot chassis 1, one end of which is connected with the robot controller 12 through an ethernet cable, and the other end of which is connected to the two-core trolley line on the track 11. The second coaxial network transmitter 9 is arranged at the tail part of the track 11, one end of the second coaxial network transmitter is connected to the two-core sliding contact line on the track 11, and the other end of the second coaxial network transmitter is connected with the background server through an Ethernet line. The ethernet data communication between the robot controller 12 and the background server is realized by the network transmission functions of the first coaxial network transmitter 8 and the second coaxial network transmitter 9.
The track type robot positioning method and the track type robot positioning device realize the position error tracking of the whole process of moving the track type robot chassis 1 on the track 11, and can quickly respond when the position error of the robot chassis 1 is large. By establishing a data model of the calibration points, the position repetition accuracy of the robot chassis 1 when two directions pass through the calibration points is ensured. The positioning accuracy and the working efficiency of the track type robot are improved, and the positioning reliability is improved.
Although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. The track type robot positioning method is characterized by comprising the following steps of:
when the robot chassis moves on the track, respectively obtaining real-time main odometer data and real-time auxiliary odometer data through the counts of the driving wheel motor encoder and the driven wheel encoder;
when the robot chassis passes through the electronic tag on the track, acquiring calibration point position data from the electronic tag through the tag reader-writer;
the robot controller obtains the position of the robot chassis according to the real-time main odometer data, the real-time auxiliary odometer data and the calibration point position data;
calculating a real-time odometer according to the real-time master odometer data and the real-time slave odometer data, wherein the real-time odometer is specifically as follows:
odom=(odom1+odom2)/2；
wherein, odom1 is real-time main odometer data, and odom2 is real-time auxiliary odometer data;
before the robot chassis moves on the track, initial parameter setting is carried out through the robot controller, specifically: acquiring a mechanical origin of a track, measuring and acquiring mechanical positions of central points of a plurality of electronic tags on the track, setting the central points of the plurality of electronic tags as standard points, and numbering the standard points; based on the mechanical position of the electronic tag, a calibration point data table is established in the robot controller, and corresponding standard point mechanical position data is updated; defining a track interval based on a mechanical origin and the mechanical position of the electronic tag; the calibration method comprises the following steps of carrying out forward and backward position calibration on the standard points and correspondingly updating a calibration point data table in the robot controller: s041, the robot chassis moves to a mechanical origin, and the main odometer and the slave odometer are cleared; s042, the robot chassis moves forward, if the absolute value of the deviation of the main odometer data and the auxiliary odometer data is calculated in real time to be smaller than the odometer deviation threshold value, the label number m of the calibration point is obtained, and if the absolute value of the deviation of the main odometer data and the auxiliary odometer data is calculated in real time to be not smaller than the odometer deviation threshold value SV1, the step S041 is returned; s043, if the label number m of the calibration points is smaller than or equal to the total number n of the calibration points, and the absolute value of the mechanical positions of the real-time odometer and the calibration points m is smaller than the calibration point position correction setting threshold value, updating the reliability of the calibration points m in the calibration point data table, and updating the forward position data of the calibration points m; s044, the robot chassis sequentially moves forward to other calibration points, and corresponding calibration point data tables are updated according to the steps S042 and S043; s045, the robot chassis moves reversely, and if the absolute value of the deviation of the master odometer data and the slave odometer data is calculated in real time to be smaller than the odometer deviation threshold value, the label number m of the calibration point is obtained; s046, if the label number m of the calibration point is more than or equal to 1 and the absolute value of the mechanical position of the odometer and the calibration point m is less than the position correction setting threshold value of the calibration point, updating the reliability of the calibration point m in the calibration point data table and updating the reverse position data of the calibration point m; s047, the robot chassis sequentially moves to other calibration points in the reverse direction, the corresponding calibration point data table is updated according to the steps S045 and S046, after the reverse position data of the calibration point data table are updated, the robot chassis is stopped, and the whole process is finished.
2. The orbital robot positioning method according to claim 1, wherein the real-time main odometer data is obtained by counting the encoders of the drive wheel motors, specifically:
odom1=k1*(π*d1/pluse1)；
in the formula, odom1 is real-time main odometer data, d1 is the diameter of a driving wheel, plus 1 is the maximum pulse per rotation of the driving wheel encoder, and k1 is the current count of the driving wheel encoder.
3. The orbital robot positioning method according to claim 1, wherein real-time slave odometer data is obtained from the counts of the driven wheel encoders, in particular:
odom2=k2*(π*d2/pluse2)；
where odom2 is real-time slave odometer data, d2 is the driven wheel diameter, plus 2 is the maximum pulse per revolution of the driven wheel encoder, and k2 is the current count of the driven wheel encoder.
4. A method of orbital robot positioning according to any one of claims 1-3, wherein the method of orbital robot positioning further comprises the steps of: when the robot executes the task, the position of the target point is received, and the robot controller determines the moving track according to the track interval where the position of the target point is and the real-time position of the robot chassis.
5. The track-based robot positioning method according to claim 4, wherein the robot receives the target point position when the robot performs the task, and the robot controller determines the movement track according to the track section in which the target point position is located and the real-time position of the robot chassis, specifically:
the robot chassis moves forward along the track to read the first label number and then stops;
updating the position of the robot chassis to be the forward position of the corresponding numbered calibration point;
calculating a calibration point section where the position of the target point is located;
judging whether the position of the target point is in a current calibration point interval, if so, determining the moving direction of the robot chassis and moving to the position of the target point;
in the process of moving the robot chassis to the target point position, if the absolute value of the deviation between the real-time main odometer data and the real-time auxiliary odometer data is smaller than the set odometer deviation threshold value, the robot chassis moves to the target point position to finish the task;
in the process of moving the robot chassis to the target point position, if the absolute value of the deviation between the real-time main odometer data and the real-time auxiliary odometer data is not smaller than the set odometer deviation threshold value, searching a calibration point with the reliability of 1 closest to the current position in the moving direction of the robot chassis, and moving the robot chassis to the target point position after the calibration point is corrected again to complete the task;
if the target point position is not in the current calibration point interval, searching a calibration point with the reliability of 1 closest to the target position in the moving direction of the robot, and updating the current position of the robot chassis, real-time main odometer data and real-time slave odometer data by using the calibration point position data when the robot chassis moves to the calibration point;
if the absolute value of the deviation between the real-time main odometer data and the real-time auxiliary odometer data is smaller than the set odometer deviation threshold value, the robot chassis moves to the target point position to finish the task;
if the absolute value of the deviation between the real-time main odometer data and the real-time auxiliary odometer data is not smaller than the set odometer deviation threshold value, searching a calibration point with the reliability of 1 closest to the current position in the moving direction of the robot chassis, and moving the robot chassis to the target point position after the robot chassis moves to the calibration point to correct the position again, so that the task is completed.
6. The orbital robot positioning method of claim 5, further comprising the steps of, after the robot chassis has been repositioned at the calibration point:
when the robot chassis revises the position at the current calibration point Pk, searching the position of the next calibration point Pk+1 immediately, and calculating the distance Dk+1 between Pk and Pk+1;
if the phenomenon of wheel slipping does not occur in the movement process of the robot chassis, when the absolute value of the deviation value of the odometer and Dk+1 is larger than the deviation threshold value of the position data of the odometer and the calibration point, the credibility of the calibration point Pk+1 is set to 0;
when the electronic labels with the credibility of 0 are continuously distributed, the background server is informed of maintenance through the Ethernet constructed by the first coaxial network converter and the second coaxial network converter;
and when the number of the electronic tags with the credibility of 0 exceeds the calibration point maintenance setting threshold value, notifying a background server to overhaul through the Ethernet constructed by the first coaxial network converter and the second coaxial network converter.
7. The orbital robot positioning method of any of claims 1, 5, 6, wherein the calibration point data table includes calibration point numbers, reliability, mechanical position, forward position, and reverse position.
8. A track-type robotic positioning device, comprising:
the driving wheel motor encoder is used for counting to obtain real-time main odometer data when the robot chassis moves on the track;
the driven wheel encoder is used for counting and obtaining real-time slave odometer data when the robot chassis moves on the track;
the tag reader-writer is used for acquiring calibration point position data from the electronic tag when the robot chassis passes through the electronic tag on the track;
the robot controller is used for obtaining the position of the robot chassis according to the real-time main odometer data, the real-time auxiliary odometer data and the calibration point position data;
the robot controller is also used for calculating a real-time odometer according to the real-time main odometer data and the real-time auxiliary odometer data, and specifically comprises the following steps:
odom=(odom1+odom2)/2；
wherein, odom1 is real-time main odometer data, and odom2 is real-time auxiliary odometer data;
the robot controller is further configured to perform initial parameter setting before the robot chassis moves on the track, specifically: acquiring a mechanical origin of a track, measuring and acquiring mechanical positions of central points of a plurality of electronic tags on the track, setting the central points of the plurality of electronic tags as standard points, and numbering the standard points; based on the mechanical position of the electronic tag, a calibration point data table is established in the robot controller, and corresponding standard point mechanical position data is updated; defining a track interval based on a mechanical origin and the mechanical position of the electronic tag; the calibration method comprises the following steps of carrying out forward and backward position calibration on the standard points and correspondingly updating a calibration point data table in the robot controller: s041, the robot chassis moves to a mechanical origin, and the main odometer and the slave odometer are cleared; s042, the robot chassis moves forward, if the absolute value of the deviation of the main odometer data and the auxiliary odometer data is calculated in real time to be smaller than the odometer deviation threshold value, the label number m of the calibration point is obtained, and if the absolute value of the deviation of the main odometer data and the auxiliary odometer data is calculated in real time to be not smaller than the odometer deviation threshold value SV1, the step S041 is returned; s043, if the label number m of the calibration points is smaller than or equal to the total number n of the calibration points, and the absolute value of the mechanical positions of the real-time odometer and the calibration points m is smaller than the calibration point position correction setting threshold value, updating the reliability of the calibration points m in the calibration point data table, and updating the forward position data of the calibration points m; s044, the robot chassis sequentially moves forward to other calibration points, and corresponding calibration point data tables are updated according to the steps S042 and S043; s045, the robot chassis moves reversely, and if the absolute value of the deviation of the master odometer data and the slave odometer data is calculated in real time to be smaller than the odometer deviation threshold value, the label number m of the calibration point is obtained; s046, if the label number m of the calibration point is more than or equal to 1 and the absolute value of the mechanical position of the odometer and the calibration point m is less than the position correction setting threshold value of the calibration point, updating the reliability of the calibration point m in the calibration point data table and updating the reverse position data of the calibration point m; s047, the robot chassis sequentially moves to other calibration points in the reverse direction, the corresponding calibration point data table is updated according to the steps S045 and S046, after the reverse position data of the calibration point data table are updated, the robot chassis is stopped, and the whole process is finished.
9. The orbital robot positioning device of claim 8, further comprising a first coaxial network transmitter inside the robot chassis, a second coaxial network transmitter mounted at the tail of the orbit;
the first coaxial network converter and the second coaxial network converter are used for constructing an Ethernet and realizing data communication between the robot controller and the background server.
10. The track-type robot positioning device according to claim 8 or 9, wherein the track comprises a plurality of sections of sub-tracks, the electronic tag is mounted at the same position of each sub-track, and the tag reader is mounted above the contact of the robot chassis with the track.
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| KR20120025839A (en) * | 2010-09-08 | 2012-03-16 | 고려대학교 산학협력단 | Calibrating method of odometry error of 2-wheel mobile robot |
| CN104495182A (en) * | 2014-11-27 | 2015-04-08 | 国家电网公司 | RFID (radio frequency identification)-based two-bin rail-bound conveying vehicle and rail layout and positioning control method |
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